机构地区: 天津大学机械学院
出 处: 《机床与液压》 2004年第4期70-72,共3页
摘 要: 本文提出了平面超自由度机器人形状控制的样条曲线方法。此方法无需求解复杂非线性优化问题和雅可比伪逆。机器人宏观构形与参考样条曲线之间的匹配非常简单 。 A geometric spline method for shape control of planar manipulators with hyper degrees of freedom was presented. This method does not require either complicated nonlinear optimization problem solutions or complex Jacobian pseudoinverse solutions. The fitting between robotic macro configuration and referent spline curves is very simple. The algorithms are suitable to real time control.
关 键 词: 超自由度 机器人 形状控制 几何样条 运动学逆解
领 域: [自动化与计算机技术] [自动化与计算机技术]